JP3726175B2 - Parking assistance device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a parking assist device that assists in parallel parking of a vehicle, parking in a garage, etc., and in particular, captures a rear image with a camera, recognizes a parking area, and predicts traveling along with a rear image on a monitor display in the vehicle. The present invention relates to a parking assist device that displays a trajectory (also referred to as a taxiway) or assists an operation during parking by voice output.
[0002]
[Prior art]
Conventionally, a method of assisting parking at the time of parking operation is known for drivers who are not accustomed to parking such as parallel parking or garage parking. For example, in Japanese Patent Application Laid-Open No. 7-17328, a CCD camera and a distance sensor for measuring distance are provided around the vehicle body, the situation around the vehicle is detected, and an image around the vehicle is displayed on a display provided in the vehicle interior. Is displayed in a bird's eye view to provide the driver with the surrounding situation.
[0003]
In JP-A-59-201082, the steering angle is detected by a steering sensor, and the steering angle at the time of parking operation is determined based on the detected position of the own vehicle and predetermined data relating to parking that has been input in advance. By calculating and displaying the steering angle and the instruction angle necessary for steering on a simple display, or in the one disclosed in JP-A-8-2357, a distance measuring sensor for object detection provided at the rear of the vehicle, Measure the distance from obstacles (especially cars parked next to the parking space to be parked), detect the steering start position with the maximum steering angle according to the distance, and turn the steering start position to the driver In Japanese Patent Application Laid-Open No. 6-234341, a taxiway for guiding the vehicle is calculated and obtained using a CCD area sensor or a steering sensor. Based on the taxiway and the current position is known what gives the voice message steering angle instruction to the driver.
[0004]
[Problems to be solved by the present invention]
However, when the vehicle is parked, it is desirable to turn the steering to a predetermined position with respect to the parking area indicated by a white line or the like and back the vehicle in a state of being parallel in the vicinity of the center. In any case, the conventional technology recognizes the area to be parked and gives an appropriate instruction to the driver at the time of parking operation, so that the vehicle cannot be parked correctly. Not what you want.
[0005]
Therefore, the present invention has been made in view of the above problems, and it is a technical problem to assist parking appropriately so as to park in a normal position after identifying the parking section itself.
[0006]
[Means for Solving the Problems]
  Technical measures taken to solve the above problems are:Steering state detection means for detecting the steering state of the vehicle, parking section detection means for recognizing a parking section that is partitioned by a white line based on the video from the camera and parked by the vehicle, and the steering state detection means A predicted travel trajectory calculating means for calculating a predicted travel trajectory of the vehicle based on the steering information, an angle θm between a central axis of the parking section and a vehicle central axis of the vehicle, and a direction perpendicular to the central axis of the parking section. The parking section based on the distance L between the camera position where the camera is provided and the central axis of the parking section, the distance D between the end of the white line on the vehicle side and the camera position in the direction of the central axis of the parking section, and Based on the relative positional relationship with the vehicle, a reference radius R0 that the vehicle enters into the parking area is obtained, and the reference radius R0 and the predicted travel locus are calculated. It compares with a radius R, and a notifying means for providing a corrective steering information to assist the parking according to the comparison result to the driverThat is.
[0007]
  Based on the video from the camera by the above technical meansRecognize the parking area where the vehicle is parked with white linesAnd providing information for assisting parking after determining whether or not the vehicle can be parked correctly based on the information on the predicted traveling track and the parking area based on the information from the steering state detecting means. Is possible.
[0008]
In this case, the parking section can be easily detected by image recognition if the white line constituting the parking section is recognized.
[0009]
  In addition, the relative positional relationship between the parking section and the vehicle is such that the inclination angle θm of the vehicle central axis with respect to the central axis of the parking section, the camera position and the parking sectioncenterIt can be expressed from the distance L to the shaft and the distance D to the entrance of the parking section, and the relationship between the relative position of the parking section and the vehicle can be accurately obtained.More specifically, the relative positional relationship between the parking section and the vehicle includes an angle θm between the central axis of the parking section and the vehicle central axis of the vehicle, and the camera position where the camera is provided in the direction perpendicular to the central axis of the parking section. It can be expressed by a distance L from the central axis of the parking section and a distance D from the end of the white line on the vehicle side to the camera position in the direction of the central axis of the parking section.
[0011]
If the display shows the rear image from the camera and the predicted driving trajectory superimposed, the surrounding situation can be accurately detected, and where the predicted driving trajectory corresponding to the steering angle passes in the rear image. I understand properly.
[0012]
  The predicted travel path is based on the relative positional relationship with the parking area,Variable display on the displayBy doing so, it becomes easier to determine whether or not parking is possible for a predetermined parking section due to a change in the display mode (display color or the like) of the predicted travel path.
  If at least one of the steering timing, the steering direction, and the steering amount is notified particularly by voice, the notification means can provide the driver with information about parking while viewing the rear.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0014]
FIG. 1 is a system configuration diagram of the parking assist device 1. In this figure, a controller 16 for controlling the parking assist device 1 includes a steering sensor 2 for detecting a steering angle of a CCD camera (hereinafter referred to as a camera) 17 and a steering wheel (hereinafter referred to as a steering) 21 for photographing the rear of the vehicle. , A shift lever reverse switch 3 for detecting the reverse (reverse) state of the transmission shift lever, a parking switch 4 for operating the parking assist function during parking operation, and a wheel speed sensor 5 for detecting the left and right wheel speeds of the driven wheels 6 is inputted, and based on these signals, the controller 16 can superimpose and display a rear image of the vehicle on the display 13 and a predicted traveling track 20 described later. Further, in this apparatus 1, a voice synthesis circuit 7 is configured so that a voice synthesis output is produced from a speaker 8 to a driver so that voice can be assisted.
[0015]
Inside the controller 16 is a CPU 11 that controls the graphics, a graphics drawing circuit 12 that draws graphics on the display 13, a superimpose circuit 9 that superimposes the graphics signal and the rear image from the camera 17, and a synchronization signal from the camera image. A synchronization separation circuit 10 that extracts and supplies to the graphics drawing circuit 12, a parking section detection image recognition device 15 that receives an image signal from the camera 17 and recognizes an image of the parking section 30 (particularly, the white line 31), and the like. Has been.
[0016]
A steering angle state display (display marker) 14 whose lighting state changes depending on the steering angle state of the steering wheel 21 is provided on the display 13 symmetrically, and the display marker 14 is steered when the steering angle is large. At the neutral point, only the center marker 14 is lit, and how much the steering 21 is steered can be seen along with the rear image. That is, the display marker 14 displays a steering timing, a steering direction, and a steering amount at the time of parking operation, and can notify the driver.
[0017]
FIG. 2 shows an attachment diagram when the parking assist device 1 is attached to the vehicle. A camera 17 that captures the rear is attached near the upper center of the license plate at the rear of the vehicle, and is installed with the optical axis facing downward. Specifically, as shown in FIG. 3 and FIG. 14, it is attached to the center at the rear of the vehicle facing downward (about 30 degrees), and the camera itself secures a field of view of 140 degrees to the left and right with a wide-angle lens, and 8 m behind It is possible to shoot the area up to about.
[0018]
In addition, a display 13 is provided on the panel surface of the center console in the vehicle interior, and a controller 16 is mounted inside the glove box. Furthermore, the parking switch 4 that issues a request to assist parking is provided in the vicinity of the center console that is easy for the driver to operate.
[0019]
Here, the steering sensor 2 will be described with reference to FIG. The steering sensor 2 detects a steering angle (steering steering angle) when the steering 21 is steered. The slit plate 2a is attached so as to rotate integrally with the steering column shaft 23, and two sets of photo interrupters 2c and 2b having a phase difference of 90 ° are attached. In this configuration, two signal pulses (A phase and B phase) are turned on and off by turning on / off the phototransistor by passing or blocking light by rotation of a plurality of slits provided circumferentially on the disk plate 2a. (See (c) of FIG. 4). This is because the phase of the B phase is delayed by 90 ° or advanced with respect to the A phase depending on the rotation direction of the steering wheel 21. Here, the steering angle is 1 ° / pulse. Used.
[0020]
Next, processing of the controller 16 will be described with reference to FIG. The controller 16 starts the program shown in FIG. 5 when the power is turned on (the accessory switch is turned on).
[0021]
In step S101, various initial values are set in the memory necessary for this processing. Thereafter, in step S102, the state of the shift reverse switch 3 is chucked. If not reverse, the display on the display 13 is stopped in step S115, and the process returns to step S102. On the other hand, when the shift reverse switch 3 is turned on (reverse lever state), step S103 is performed. In step S103, the display 13 is switched to the camera image mode so that the image behind the vehicle can be displayed as a raw image. That is, since the rear state can be accurately displayed by the raw image, it is possible to confirm a person or an object crossing the rear.
[0022]
Next, the parking switch 4 which assists parking at the time of parking operation is checked in step S104. If the parking switch 4 is off (no parking assistance is requested), the graphic screen of the display 13 is cleared in step S112, and only the rear raw image is displayed on the display 13 (described later in FIG. 1). The predicted traveling locus 20 is not displayed), and the process returns to step S102.
[0023]
On the other hand, if the parking switch 4 is on (in the state where there is a parking assistance request) in step S104, the process proceeds to step S105. In step S105, a predetermined voice signal is output to the voice synthesis circuit 7, and the voice is output from the speaker 8. Output. In other words, depending on the situation that the parking operation has started, “Parking assistance. Adjust the locus to the desired position, please back while paying attention to the surroundings.”, “The parking guide will start from now. Rotate the handle so that the tip of the green (predicted trajectory) display on the screen faces the parking area. Pre-determined voice messages such as "Please be careful about the right (left)." Then, guidance is given to the driver by voice synthesis. By hearing this voice message, the driver can know that assistance during parking operation has started.
[0024]
Next, in step S106, the steering sensor value N is read from the steering sensor 2, and the turning radius R at the time of parking operation is calculated based on the value. Specifically, the reading of the steering sensor 2 is interrupted to the main program when the rising edge of the A phase signal is detected, and the interruption process shown in FIG. 6 is executed. That is, the state of the B phase signal is checked in step S201 in FIG. 6, and if the B phase signal is high (H: high potential), the steering count value N is incremented in step S202, and decremented if low (L: low potential). The value is stored in the memory. In this case, the steering count value N is θ = N because one pulse is 1 °. However, since the absolute rudder angle of the steering wheel 21 becomes uncertain only by counting the steering value N shown above, the neutral point of the steering rudder angle is detected by the method shown in FIG. 7, and the neutral point is determined by setting N = 0. .
[0025]
The neutral point determination will be described with reference to FIG. This process is executed by a timer interrupt with a period of 1 second. Here, the vehicle body speed is also calculated based on signals from known left and right wheel speed sensors 5 and 6 that are usually provided on the wheels. In steps S301 and S302, signals (pulses) from the left and right wheel speed sensors 5 and 6 are counted by a hardware counter built in the CPU 11 inside the controller, and the left and right wheel speeds are read by this timer interruption routine. The speed sensor value is stored in NR and NL of the memory in which the speed sensor value is stored. After reading, the counter itself is cleared, and NR and NL indicate the number of pulses per second.
[0026]
In the next step S303, the average value (NR + NL) / 2 is calculated from NR and NL, and this value is multiplied by the tire circumference, and the vehicle speed V can be easily obtained by a known method. Next, the standard setting of the steering sensor 2 is performed. In steps S304 to S306, the vehicle has almost no pulse difference between the left and right wheel speed sensors 5 and 6 when the vehicle speed V is equal to or higher than a predetermined speed (10 Km / h). A neutral point of the steering angle is obtained by assuming that the vehicle is traveling straight and resetting the steering counter N to zero in step S306.
[0027]
When the steering process ends, the process returns to the main routine of FIG. 5, and parameter calculation of the predicted travel path 20 is performed in step S107. In the travel locus parameter calculation, the turning radius R is obtained from the steering angle θ and the wheel base L from the geometrical relationship shown in FIG.
[0028]
Thereafter, the image of the camera 17 is taken into the image recognition device 15 in step S108, and a lane marking detection process is performed in step S109.
[0029]
This lane marking detection process is performed by the method shown in FIG. That is, the image input from the camera 17 is, for example, a black and white image (640 × 480 dot size), and each point has a gray scale of 0 to 255. From this image, first, in step S401, the edge of the white line 31 that is a feature point of the parking section 30 is detected by a known technique. Specifically, a method is used in which the edge of the white line 31 is detected by a known Sobel filter, the peak of the portion exceeding the appropriate threshold is detected, and the edge points constituting the boundary are extracted. In this case, the recognition of the white line can easily detect the feature points of the parking area by image recognition. Next, in step S402, these edge points are converted into road surface coordinates shown in FIG. In this coordinate system, straight line detection is performed in step S403. As a method for obtaining this straight line, detection can be performed by using a known Hough transform.
[0030]
This straight line detection by the Hough transform is used when a straight line is detected from a set of edge points that are converted back to the (X, Z) plane after detecting the edge of the white line 31 of the parking section 30 imaged by the camera 17. To do. In other words, this is a known technique, and in brief, the conversion is as follows when each edge point is (x, y).
[0031]
X = x · Hc / (fsinθ−ycosθ) (1)
Z = Hc · (y cos θ + f cos θ) / (fsin θ−y cos θ) (2)
u = X (3)
v = −Z (4)
p = u cos θ + v sin θ (5)
by. That is, in order to perform this conversion, first, the conversion of the equations (1) and (2) is performed in order to describe each edge point in (X, Z) coordinates.
[0032]
Next, (ρ, θ) is used as the Hough space, and ρ is calculated using equations (3) to (5) for each edge (X, Z). At this time, a curve is drawn between θ = −π / 2 to π / 2 in the (ρ, θ) space. This actually corresponds to an operation of dividing the ρ, θ space into a lattice shape, associating it with a two-dimensional matrix, and changing each θ by changing θ.
[0033]
In this way, when drawing to the matrix for all candidate edge points, the intersection of the curves concentrates on the candidate line segments, and as a result, the matrix value has a large value, An appropriate matrix position (ρ, θ) is selected based on a certain threshold value, and one straight line can be extracted correspondingly.
[0034]
  Therefore, after detecting the straight line, returning to FIG. 8, a line segment as a candidate constituting the parking section 30 is extracted from the straight line detected by the Hough conversion in step S <b> 404. Specifically, as shown in FIG. 17, when Lm is the vehicle body length, Wm is the vehicle width, lm is the distance between the rear wheel axle and the camera, and Rmin is the minimum turning radius of the vehicle, it is shown in FIG. As described above, the distance D from the center of the rear end of the vehicle (camera position) to the entrance of the parking section 30, the lateral displacement distance (center deviation) L of the center of the rear end of the vehicle (camera position) from the center of the parking lot, and the distance between the vehicle and the parking section The angle (vehicle body angle) θm can be obtained from the geometric relationship.More specifically, θm: an angle formed by a parking section center line (parking section center axis) and the vehicle center axis of the vehicle, L: a camera position and a parking section provided with a camera in a direction perpendicular to the center axis of the parking section D: The distance from the end of the white line on the vehicle side (the left parking white line in FIG. 17) to the camera position in the direction of the central axis of the parking section.
[0035]
Here, the C, D, E, and F line segments in FIG. 17 are extracted within the allowable range by comparing the angle and arrangement order, and the parking section width W1 and the white line width W2.
[0036]
Next, in step S405, it is checked whether or not a side line candidate (white line) has been found. If there is no side line candidate, this process ends. If there is a side line candidate, in step S406, the process is orthogonal to the side line. The orthogonal component is detected. That is, this corresponds to the search for the virtual line segments A and B in FIG.
[0037]
Next, if there is no orthogonal line segment candidate in step S407, this process is terminated. If there is an orthogonal component candidate, L, θm, and D are calculated and obtained in step S408. Note that a specific calculation method for obtaining L, θm, and D can be calculated from the geometrical relationship from FIG.
[0038]
Next, vehicle state determination will be described with reference to FIG.
[0039]
In step S501, it is checked whether or not a parking area has been detected. If no area has been detected, it is determined in step S512 that it is unknown, and an unknown flag is set. On the other hand, if the section is detected, the process proceeds to step S502, and a reference turning radius R0 is obtained from the center deviation L and the vehicle body angle θm. This is expressed by the (condition 1) equation shown in FIG. 17, and the radius of a circle that is in contact with the central axis of the parking section 30 and the vehicle central axis is obtained. In this case, when the turning center is on the right side in the traveling direction of the vehicle, the radius R0 is positive.
[0040]
Next, in step S503, the turning radius R0 is compared with Rmin, which is the minimum turning radius of the vehicle. If the turning radius R0 is smaller than this, the vehicle cannot enter the parking section 30. set. If the turning radius R0 is equal to or greater than Rmin and parking is possible, the process proceeds to step S504, and d shown in FIG. This determines whether the vehicle can be parallel at an appropriate position in the parking section 30 from the trajectory of the radius R0 for turning, and parking is possible under the condition of d <Lm-lm in step S505. Determine whether. If the condition shown in step S505 is not satisfied, the vehicle will not be parallel even if it enters the parking section 30.
[0041]
Next, it progresses to step S506 and the condition 3 is checked. That is, Rx is obtained by the relational expression shown in condition 3 in FIG. This is to check whether the inside of the turn does not interfere with the parking section corner when the vehicle enters the parking section 30, and if the condition of Rx <| R0 | −Wm / 2 is satisfied in step S507, It can be considered that the inside of the turning of the vehicle is less likely to come into contact with the adjacent vehicle or the like. However, this is only a calculation standard, and in actuality, it may be considered that an adjacent vehicle protrudes, and visual confirmation is required. Therefore, if the above conditional expressions (condition 1 to condition 3) are satisfied, the process proceeds to step S508.
[0042]
In step S508, if the turning radius R based on the current steering rudder angle is substantially equal to the reference radius R0, the vehicle can be parked at the steering rudder angle as it is in step S509, and a parking feasible flag is set. On the other hand, if the turning radius R and the reference radius R0 do not substantially match, in step S510, it is considered that steering correction is necessary, and the steering correction flag is set. However, as shown in FIG. 20, there is a degree of freedom when R0> Rmin, and steering correction is not necessary depending on the situation.
[0043]
Based on this result, audio output 2 is performed in step S111 of FIG. Here, the audio output 2 is to notify the driver by issuing a predetermined sentence based on the flag set by the state determination in step S110. Specifically, as shown in FIG. 19, if it is “Unknown” by the state judgment, “Parking area is not detected”, and if it is not possible, “Go forward and try again. If the vehicle can be parked at the rudder angle as it is, a voice message such as “Please pay attention to the surroundings and back as it is” is output from the voice synthesis circuit 7 to the speaker 8. In this case, the color designation in the case where the predicted traveling locus 20 is displayed on the display 13 is also set to the display color shown in FIG.
[0044]
Next, graphics redrawing processing is performed in step S112. The processing here is to display the predicted traveling locus 20 in the rear image so as to be superimposed on the display, and in order to perform this display, the road surface coordinates must be converted into camera coordinates. I do.
[0045]
Therefore, as shown in FIG. 16, this coordinate conversion is performed as follows: (X, Y, Z): road surface coordinates, (x, y): camera coordinates (CCD element surface), f: lens focal length, (x ′, y ′) , Z ′): lens coordinates (z ′ coincides with the optical axis), θc: camera mounting angle, and Hc: mounting height from the road surface, the following relational expression is established. That means
x = f · x ′ / z ′ (1 ′)
y = f · y ′ / z ′ (2 ′)
x '= X (3')
y ′ = Zsin θc + (Y−Hc) cos θc (4 ′)
z '= Zcos [theta] c- (Y-Hc) sin [theta] c (5')
Therefore, if it is limited only to the coordinates on the road surface, Y = 0, and if x and y are obtained,
x = f.X / (Zcos .theta.c + Hcsin .theta.c) (6 ')
y = f · (Zsinθc−Hcosθc) / (Zcosθc + Hcsinθc) (7 ′)
It becomes. Therefore, when the point (X, Z) on the road surface coordinates is captured by the camera, the coordinates (x, y) on the graphics screen (camera coordinates) are obtained from the equations (6 ′) and (7 ′), and the rear Can be superimposed on the image.
[0046]
In this case, the predicted x and y travel trajectory 20 obtained by the above method is displayed on the display, and various display methods can be considered as shown in FIG. That is, in FIG. 12 (a), a method of displaying by the predicted kite through which the left and right wheels of the vehicle pass, (b), a method of vector display of the travel area where the vehicle travels when parked, (3) is a fixed distance interval (ladder) There is a method of displaying it in a ladder-like manner so that the distance (50 cm) can be understood, and here, using (c), a method that makes it easy to understand the sense of distance and the angle of the vehicle body at each position during parking operation is adopted. . In this case, the length l of the predicted vehicle trajectory 20 is set to a fixed length (for example, 3 m), or a certain angle, and the color is changed between a turning state (green) and a straight traveling state (blue). In addition, it is also possible to take a method that makes it easy to distinguish only the predicted trajectory tip.
[0047]
FIG. 18 is an example of a display screen showing the predicted travel locus 20 on the display 13 and the state of the steering rudder angle, and shows a state in which the predicted travel trajectory 20 changes in response to the steering rudder angle. This is because the raw image behind the vehicle is monitored, and only when the parking switch 4 is turned on (in the state where the parking assistance is requested), the scheduled travel path 20 which is ladder-like according to the steering angle is overlapped. It is made to display. In this case, by displaying the predicted traveling track 20 in the rear image, a display marker 14 for displaying the steering angle state is displayed together with a part of the display 13 so that it can be understood how much the steering 21 is steered. You can see how much you actually steer.
[0048]
In the next step S113, it is determined whether the parking switch 4 is turned on (the parking assistance is requested). Here, when the parking switch 4 is not turned on (there is no parking assistance request), the process returns to step S102, and the processes from step S102 are repeated. On the other hand, if there is a parking assistance request, the shift lever reverse switch 3 is checked to see if it is in the reverse state in step S114. If the reverse state is not set, the process returns to step S102. If the reverse state is set, the same processing from step S106 to step S114 is repeated.
[0049]
In other words, when there is a parking assistance request in the reverse state, the predicted driving trajectory is displayed along with the rear image on the display, so the driver turns the steering wheel 21 to see this and turns it to an appropriate position. Just hold and back. If the steering is straightened when entering the parking space horizontally, and the vehicle is moved back to the end, the parking space 30 can be correctly entered. Since these are instructed by voice, it is possible to operate while confirming safety by looking at the rear.
[0050]
【effect】
According to the present invention, the steering state detecting means for detecting the steering state of the vehicle, the parking section detecting means for identifying the parking section by image recognition based on the video from the camera, and the vehicle traveling by the information from the steering state detecting means. Image recognition based on video from the camera by providing a predicted travel trajectory calculating means for calculating an expected trajectory and an informing means for providing information to assist the parking with the predicted travel trajectory and information from the parking area. Detecting the parking area with the information from the steering state detecting means, obtaining the predicted travel path of the vehicle, determining whether the vehicle can be parked correctly based on the predicted travel path and the information on the parking area, and then parking the vehicle in the correct position. Information that assists parking properly can be provided.
[0051]
In this case, the parking section can be easily detected by image recognition if the white line constituting the parking section is recognized.
[0052]
  In addition, the information for assisting parking uses the relative positional relationship between the parking section and the vehicle, the inclination angle θm of the vehicle central axis with respect to the central axis of the parking section, the camera position and the parking sectioncenterIt can be expressed by the distance L from the shaft and the distance D to the entrance of the parking section, and the relative positional relationship between the parking section and the vehicle can be accurately obtained.
[0053]
In addition, if the notification means notifies at least one of the steering timing, the steering direction, and the steering amount by an indicator and particularly sound, it provides the driver with information on parking while visually confirming the rear. Can do.
[0054]
If the display shows the rear image from the camera and the predicted driving trajectory superimposed, the surrounding situation can be accurately detected, and where the predicted driving trajectory corresponding to the steering angle passes in the rear image. I understand properly.
[0055]
If the display form of the predicted travel path is variable depending on the positional relationship with the parking area, it is determined whether or not parking is possible for a predetermined parking area based on the change in the display form of the predicted travel path. It becomes easy.
[Brief description of the drawings]
FIG. 1 is a system configuration diagram of a parking assistance device according to an embodiment of the present invention.
FIG. 2 is an attachment diagram when the parking assist device in one embodiment of the present invention is attached to a vehicle.
FIG. 3 is a diagram illustrating a detection range of a camera of the parking assist device according to the embodiment of the present invention.
4A and 4B show a steering sensor according to an embodiment of the present invention, in which FIG. 4A is a plan view of the steering sensor when attached to a steering column shaft, and FIG. (C) is a figure which shows the output of the A phase and B phase of a steering sensor.
FIG. 5 is a flowchart showing processing of a controller in an embodiment of the present invention.
FIG. 6 is a flowchart showing steering sensor signal processing of a controller in one embodiment of the present invention.
FIG. 7 is a flowchart showing neutral point processing of a steering sensor of a controller according to an embodiment of the present invention.
8 is a flowchart of lane marking detection processing shown in FIG.
FIG. 9 is a flowchart of state determination shown in FIG. 5;
FIG. 10 is an explanatory diagram showing a positional relationship between a parking section and a vehicle in an embodiment of the present invention.
FIG. 11 is an explanatory diagram used for calculation of a predicted traveling locus in an embodiment of the present invention.
FIGS. 12A and 12B are diagrams showing display examples of predicted travel trajectories according to an embodiment of the present invention, where FIG. 12A is a display with a predicted bag, FIG. 12B is a travel area belt display for the vehicle width, and FIG. It is a figure which shows ladder-like display.
FIG. 13 shows graphics display coordinates of a camera and a display according to an embodiment of the present invention.
FIG. 14 is a view showing an attachment state when the camera of the parking assistance device in one embodiment of the present invention is attached to a vehicle.
FIG. 15 is an explanatory diagram showing a straight line detection method using Hough transform in an embodiment of the present invention.
FIG. 16 is an explanatory diagram for explaining a coordinate conversion method of the parking assist device according to the embodiment of the present invention.
FIG. 17 is an explanatory diagram showing a relationship between detection of a parking section and a vehicle position in the parking assist device according to the embodiment of the present invention.
FIG. 18 is a display screen on the display of the parking assist device according to the embodiment of the present invention.
FIG. 19 is a diagram illustrating a display color of a guidance message and a predicted traveling locus on a display in audio output of the parking assist device according to the embodiment of the present invention.
FIG. 20 is a view showing how to enter the parking section of the parking assistance device according to the embodiment of the present invention.
[Explanation of symbols]
1 Parking assistance device
2 Steering sensor (steering state detection means)
3 Shift lever reverse switch
4 Parking switch
5 Right wheel speed sensor
6 Left wheel speed sensor
8 Speaker (notification means)
11 CPU (running prediction calculation means)
13 Display (display)
14 Rudder angle status display (marker display)
15 Parking area detection image recognition device (parking area detection means)
17 CCD camera (camera)
20 Expected trajectory
30 parking lot
31 White line

Claims (3)

The rear of the vehicle taken by the camera, in the parking assist apparatus displays the rearward image an image on a display unit provided in the vehicle to aid in operation at the time the driver of the parking from the camera,
Steering state detection means for detecting the steering state of the vehicle, parking section detection means for recognizing a parking section that is partitioned by a white line based on the video from the camera and parked by the vehicle, and the steering state detection means of the predicted traveling locus calculating means by the steering information to calculate a predicted traveling locus of the vehicle, the angle θm of the parking center axis of the compartment and the vehicle center axis of the vehicle, the in the vertical direction of the central axis of the parking section The parking section based on the distance L between the camera position where the camera is provided and the central axis of the parking section, the distance D between the end of the white line on the vehicle side and the camera position in the direction of the central axis of the parking section, and Based on the relative positional relationship with the vehicle, a reference radius R0 that the vehicle enters into the parking area is obtained, and the reference radius R0 and the predicted travel locus are calculated. Compares with a radius R, a parking assist apparatus characterized by comprising a notification means for providing a corrective steering information to assist parking in accordance with the comparison result to the driver. The parking assistance device according to claim 1, wherein the notification unit variably displays a display form of the predicted travel path on the display . The notification means, steering timing, a steering direction by the voice, the parking assist device according to claim 1 wherein at least one steering amount to be broadcast.

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